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DRCL-USC / Hector_Simulation

Simulation Software (ROS/MATLAB) for HECTOR Humanoid Robot Locomotion Control/Bipedal Locomotion Control/Force-and-moment-based MPC
https://youtu.be/NcW-NFwjMh0
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Robot fall down after clicking the start button #25

Closed yili5912 closed 3 months ago

yili5912 commented 3 months ago

Hello, I just cloned Hector_Simulation and compiled OK. After Click the start button at the bottom of the simulator, the robot fall down. Which part should I change to make it walk? Thanks!

junhengl commented 3 months ago

You can reset the controller and then reset the robot with ctrl+R after it fails.

yili5912 commented 3 months ago

I did it many times. Only one time it didn't fall down. Where can I check to make sure the controller is running correctly ? Thanks.

junhengl commented 3 months ago

What's your system specs? the simulation runs pretty CPU and GPU-intensive, could you try lower the real time factor and see if performance improves?

yili5912 commented 3 months ago

Here is my laptop info: model name : Intel(R) Core(TM) i7-4600U CPU @ 2.10GHz, MemTotal: 8015004 kB

What real time factor do you suggest ? And where is the code? Thanks!

junhengl commented 3 months ago

You can change real-time factor on the left panel of the gazebo GUI, or in the hector launch file. Your PC specs are not recommended to run this simulation in real-time. You can start with 1/10 of real-time and adjust based on its performance.

yili5912 commented 3 months ago

Thank you very much. I changed it to 0.3 and it works now. Regards.

yili5912 commented 3 months ago

The issue is solved. Thanks.